/*
  spindle_control.c - spindle control methods
  Part of Grbl

  Copyright (c) 2012-2017 Sungeun K. Jeon for Gnea Research LLC
  Copyright (c) 2009-2011 Simen Svale Skogsrud
  Copyright (c) 2018-2019 Thomas Truong

  Grbl is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation, either version 3 of the License, or
  (at your option) any later version.

  Grbl is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.

  You should have received a copy of the GNU General Public License
  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
*/

#include "grbl.h"


#ifdef VARIABLE_SPINDLE
static float pwm_gradient; // Precalulated value to speed up rpm to PWM conversions.
#endif

void spindle_init()
{
#ifdef STM32
    pwm_gradient = SPINDLE_PWM_RANGE / (settings.rpm_max - settings.rpm_min);
    Spindle_Timer_Init();

#elif ATMEGA328P
#ifdef VARIABLE_SPINDLE

    // Configure variable spindle PWM and enable pin, if requried. On the Uno, PWM and enable are
    // combined unless configured otherwise.
    SPINDLE_PWM_DDR |= (1<<SPINDLE_PWM_BIT); // Configure as PWM output pin.
    SPINDLE_TCCRA_REGISTER = SPINDLE_TCCRA_INIT_MASK; // Configure PWM output compare timer
    SPINDLE_TCCRB_REGISTER = SPINDLE_TCCRB_INIT_MASK;
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
      SPINDLE_ENABLE_DDR |= (1<<SPINDLE_ENABLE_BIT); // Configure as output pin.
#else
      SPINDLE_DIRECTION_DDR |= (1<<SPINDLE_DIRECTION_BIT); // Configure as output pin.
#endif

    pwm_gradient = SPINDLE_PWM_RANGE/(settings.rpm_max-settings.rpm_min);

#else

    // Configure no variable spindle and only enable pin.
    SPINDLE_ENABLE_DDR |= (1<<SPINDLE_ENABLE_BIT); // Configure as output pin.
    SPINDLE_DIRECTION_DDR |= (1<<SPINDLE_DIRECTION_BIT); // Configure as output pin.

#endif
#endif

    spindle_stop();
}


uint8_t spindle_get_state()
{
#ifdef STM32
    uint8_t pin = 0;
#ifdef VARIABLE_SPINDLE
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
    pin = GPIO_ReadInputData(SPINDLE_ENABLE_PORT);
    // No spindle direction output pin.
#ifdef INVERT_SPINDLE_ENABLE_PIN
      if (bit_isfalse(pin,(1<<SPINDLE_ENABLE_BIT))) { return(SPINDLE_STATE_CW); }
#else
      if (bit_istrue(pin,(1<<SPINDLE_ENABLE_BIT))) { return(SPINDLE_STATE_CW); }
#endif //INVERT_SPINDLE_ENABLE_PIN
#else
    pin = GPIO_ReadInputData(SPIN_DIR_GPIO_Port);
    if (pin & SPIN_DIR_Pin)
    { return (SPINDLE_STATE_CCW); }
    else
    { return (SPINDLE_STATE_CW); }
#endif //USE_SPINDLE_DIR_AS_ENABLE_PIN
#else
    pin = GPIO_ReadInputData(SPINDLE_ENABLE_PORT);
#ifdef INVERT_SPINDLE_ENABLE_PIN
        if (bit_isfalse(pin,(1<<SPINDLE_ENABLE_BIT))) {
#else
        if (bit_istrue(pin,(1<<SPINDLE_ENABLE_BIT))) {
#endif
        if (pin & (1 << SPINDLE_DIRECTION_BIT)) { return(SPINDLE_STATE_CCW); }
        else { return(SPINDLE_STATE_CW); }
      }
#endif //VARIABLE_SPINDLE


#elif ATMEGA328P
#ifdef VARIABLE_SPINDLE
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
    // No spindle direction output pin.
#ifdef INVERT_SPINDLE_ENABLE_PIN
        if (bit_isfalse(SPINDLE_ENABLE_PORT,(1<<SPINDLE_ENABLE_BIT))) { return(SPINDLE_STATE_CW); }
#else
           if (bit_istrue(SPINDLE_ENABLE_PORT,(1<<SPINDLE_ENABLE_BIT))) { return(SPINDLE_STATE_CW); }
#endif
#else
if (SPINDLE_TCCRA_REGISTER & (1<<SPINDLE_COMB_BIT)) { // Check if PWM is enabled.
  if (SPINDLE_DIRECTION_PORT & (1<<SPINDLE_DIRECTION_BIT)) { return(SPINDLE_STATE_CCW); }
  else { return(SPINDLE_STATE_CW); }
}
#endif
#else
#ifdef INVERT_SPINDLE_ENABLE_PIN
    if (bit_isfalse(SPINDLE_ENABLE_PORT,(1<<SPINDLE_ENABLE_BIT))) {
#else
    if (bit_istrue(SPINDLE_ENABLE_PORT,(1<<SPINDLE_ENABLE_BIT))) {
#endif
if (SPINDLE_DIRECTION_PORT & (1<<SPINDLE_DIRECTION_BIT)) { return(SPINDLE_STATE_CCW); }
else { return(SPINDLE_STATE_CW); }
}
#endif
#endif

    return (SPINDLE_STATE_DISABLE);
}


// Disables the spindle and sets PWM output to zero when PWM variable spindle speed is enabled.
// Called by various main program and ISR routines. Keep routine small, fast, and efficient.
// Called by spindle_init(), spindle_set_speed(), spindle_set_state(), and mc_reset().
void spindle_stop()
{
#ifdef STM32
#ifdef VARIABLE_SPINDLE
    Spindle_Disable();

#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
#ifdef INVERT_SPINDLE_ENABLE_PIN
    SetSpindleEnablebit();
#else
    ResetSpindleEnablebit();
#endif
#endif
#else
#ifdef INVERT_SPINDLE_ENABLE_PIN
    SetSpindleEnablebit();
#else
    ResetSpindleEnablebit();
#endif
#endif

#elif ATMEGA328P
#ifdef VARIABLE_SPINDLE
    SPINDLE_TCCRA_REGISTER &= ~(1<<SPINDLE_COMB_BIT); // Disable PWM. Output voltage is zero.
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
#ifdef INVERT_SPINDLE_ENABLE_PIN
        SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);  // Set pin to high
#else
        SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT); // Set pin to low
#endif
#endif
#else
#ifdef INVERT_SPINDLE_ENABLE_PIN
      SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);  // Set pin to high
#else
      SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT); // Set pin to low
#endif
#endif
#endif
}


#ifdef VARIABLE_SPINDLE

// Sets spindle speed PWM output and enable pin, if configured. Called by spindle_set_state()
// and stepper ISR. Keep routine small and efficient.
void spindle_set_speed(SPINDLE_PWM_TYPE pwm_value)
{
#ifdef STM32
    Set_Spindle_Speed(pwm_value);

#ifdef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
    if (pwm_value == SPINDLE_PWM_OFF_VALUE)
    {
      spindle_stop();
    }
    else
    {
      TIM_CtrlPWMOutputs(TIM1, ENABLE);
#ifdef INVERT_SPINDLE_ENABLE_PIN
        ResetSpindleEnablebit();
#else
        SetSpindleEnablebit();
#endif
    }
#else
    if (pwm_value == SPINDLE_PWM_OFF_VALUE)
    {
        Spindle_Disable();
    } else
    {
        Spindle_Enable();
    }
#endif

#elif ATMEGA328P

    SPINDLE_OCR_REGISTER = pwm_value; // Set PWM output level.
#ifdef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
      if (pwm_value == SPINDLE_PWM_OFF_VALUE) {
        spindle_stop();
      } else {
        SPINDLE_TCCRA_REGISTER |= (1<<SPINDLE_COMB_BIT); // Ensure PWM output is enabled.
#ifdef INVERT_SPINDLE_ENABLE_PIN
          SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT);
#else
          SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
#endif
      }
#else
      if (pwm_value == SPINDLE_PWM_OFF_VALUE) {
        SPINDLE_TCCRA_REGISTER &= ~(1<<SPINDLE_COMB_BIT); // Disable PWM. Output voltage is zero.
      } else {
        SPINDLE_TCCRA_REGISTER |= (1<<SPINDLE_COMB_BIT); // Ensure PWM output is enabled.
      }
#endif
#endif
}


#ifdef ENABLE_PIECEWISE_LINEAR_SPINDLE

// Called by spindle_set_state() and step segment generator. Keep routine small and efficient.
SPINDLE_PWM_TYPE spindle_compute_pwm_value(float rpm) // 328p PWM register is 8-bit.
{
  SPINDLE_PWM_TYPE pwm_value;
  rpm *= (0.010*sys.spindle_speed_ovr); // Scale by spindle speed override value.
  // Calculate PWM register value based on rpm max/min settings and programmed rpm.
  if ((settings.rpm_min >= settings.rpm_max) || (rpm >= RPM_MAX)) {
    rpm = RPM_MAX;
    pwm_value = SPINDLE_PWM_MAX_VALUE;
  } else if (rpm <= RPM_MIN) {
    if (rpm == 0.0) { // S0 disables spindle
      pwm_value = SPINDLE_PWM_OFF_VALUE;
    } else {
      rpm = RPM_MIN;
      pwm_value = SPINDLE_PWM_MIN_VALUE;
    }
  } else {
    // Compute intermediate PWM value with linear spindle speed model via piecewise linear fit model.
#if (N_PIECES > 3)
      if (rpm > RPM_POINT34) {
        pwm_value = floor(RPM_LINE_A4*rpm - RPM_LINE_B4);
      } else
#endif
#if (N_PIECES > 2)
      if (rpm > RPM_POINT23) {
        pwm_value = floor(RPM_LINE_A3*rpm - RPM_LINE_B3);
      } else
#endif
#if (N_PIECES > 1)
      if (rpm > RPM_POINT12) {
        pwm_value = floor(RPM_LINE_A2*rpm - RPM_LINE_B2);
      } else
#endif
    {
      pwm_value = floor(RPM_LINE_A1*rpm - RPM_LINE_B1);
    }
  }
  sys.spindle_speed = rpm;
  return(pwm_value);
}

#else

// Called by spindle_set_state() and step segment generator. Keep routine small and efficient.
SPINDLE_PWM_TYPE spindle_compute_pwm_value(float rpm)
{
    SPINDLE_PWM_TYPE pwm_value;
    rpm *= (0.010 * sys.spindle_speed_ovr); // Scale by spindle speed override value.
    // Calculate PWM register value based on rpm max/min settings and programmed rpm.
    if ((settings.rpm_min >= settings.rpm_max) || (rpm >= settings.rpm_max))
    {
        // No PWM range possible. Set simple on/off spindle control pin state.
        sys.spindle_speed = settings.rpm_max;
        pwm_value = SPINDLE_PWM_MAX_VALUE;
    } else if (rpm <= settings.rpm_min)
    {
        if (rpm == 0.0)
        { // S0 disables spindle
            sys.spindle_speed = 0.0;
            pwm_value = SPINDLE_PWM_OFF_VALUE;
        } else
        { // Set minimum PWM output
            sys.spindle_speed = settings.rpm_min;
            pwm_value = SPINDLE_PWM_MIN_VALUE;
        }
    } else
    {
        // Compute intermediate PWM value with linear spindle speed model.
        // NOTE: A nonlinear model could be installed here, if required, but keep it VERY light-weight.
        sys.spindle_speed = rpm;
        pwm_value = (SPINDLE_PWM_TYPE) floor((rpm - settings.rpm_min) * pwm_gradient) + SPINDLE_PWM_MIN_VALUE;
    }
    return (pwm_value);
}

#endif
#endif


// Immediately sets spindle running state with direction and spindle rpm via PWM, if enabled.
// Called by g-code parser spindle_sync(), parking retract and restore, g-code program end,
// sleep, and spindle stop override.
#ifdef VARIABLE_SPINDLE

void spindle_set_state(uint8_t state, float rpm)
#else
void _spindle_set_state(uint8_t state)
#endif
{
    if (sys.abort)
    { return; } // Block during abort.
    if (state == SPINDLE_DISABLE)
    { // Halt or set spindle direction and rpm.

#ifdef VARIABLE_SPINDLE
        sys.spindle_speed = 0.0;
#endif
        spindle_stop();

    } else
    {

#ifndef USE_SPINDLE_DIR_AS_ENABLE_PIN
        if (state == SPINDLE_ENABLE_CW)
        {
            ResetSpindleDirectionBit();
        } else
        {
            SetSpindleDirectionBit();
        }
#endif

#ifdef VARIABLE_SPINDLE
        // NOTE: Assumes all calls to this function is when Grbl is not moving or must remain off.
        if (settings.flags & BITFLAG_LASER_MODE)
        {
            if (state == SPINDLE_ENABLE_CCW)
            { rpm = 0.0; } // TODO: May need to be rpm_min*(100/MAX_SPINDLE_SPEED_OVERRIDE);
        }
        spindle_set_speed(spindle_compute_pwm_value(rpm));
#endif
#if (defined(USE_SPINDLE_DIR_AS_ENABLE_PIN) && \
        !defined(SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED)) || !defined(VARIABLE_SPINDLE)
        // NOTE: Without variable spindle, the enable bit should just turn on or off, regardless
        // if the spindle speed value is zero, as its ignored anyhow.
#ifdef INVERT_SPINDLE_ENABLE_PIN
          ResetSpindleEnablebit();
#else
          SetSpindleEnablebit();
#endif
#endif

    }

    sys.report_ovr_counter = 0; // Set to report change immediately
}


// G-code parser entry-point for setting spindle state. Forces a planner buffer sync and bails 
// if an abort or check-mode is active.
#ifdef VARIABLE_SPINDLE

void spindle_sync(uint8_t state, float rpm)
{
    if (sys.state == STATE_CHECK_MODE)
    { return; }
    protocol_buffer_synchronize(); // Empty planner buffer to ensure spindle is set when programmed.
    spindle_set_state(state, rpm);
}

#else
void _spindle_sync(uint8_t state)
{
  if (sys.state == STATE_CHECK_MODE) { return; }
  protocol_buffer_synchronize(); // Empty planner buffer to ensure spindle is set when programmed.
  _spindle_set_state(state);
}
#endif
